Bruno Scaglioni — accepted AI-conference papers

2025

Designing a Magnetic Endoscope for In Vivo Contact-Based Tissue Scanning Using Developable Roller

Nikita J. Greenidge, Christian Marzi, Benjamin Calmé, James W. Martin, Bruno Scaglioni, Franziska Mathis-Ullrich +1

IROS 2025

Magnetic manipulation has been adopted as a method of actuation in both wireless capsule endoscopy and soft-tethered endoscopy, with the goal of improving gastrointestinal procedures. However, by nature of magnetic manipulation, these endoscopes are typically limited to a maximum of five degrees of

Cited by 0 Source ↗Scholar ↗

2020

Autonomous Tissue Retraction in Robotic Assisted Minimally Invasive Surgery - A Feasibility Study

Aleks Attanasio, Bruno Scaglioni, Matteo Leonetti, Alejandro F. Frangi, William Cross, Chandra Shekhar Biyani +1

RA-L 2020

In this letter, we describe a novel framework for planning and executing semi-autonomous tissue retraction in minimally invasive robotic surgery. The approach is aimed at removing tissue flaps or connective tissue from the surgical area autonomously, thus exposing the underlying anatomical structure

Cited by 62 Source ↗Scholar ↗

2019

Explicit Model Predictive Control of a Magnetic Flexible Endoscope

Bruno Scaglioni, Luca Previtera, James W. Martin, Joseph C. Norton, Keith L. Obstein, Pietro Valdastri

RA-L 2019

In this paper, explicit model predictive control is applied in conjunction with nonlinear optimisation to a magnetically actuated flexible endoscope for the first time. The approach is aimed at computing the motion of the external permanent magnet, given the desired forces and torques. The strategy

Cited by 27 Source ↗Scholar ↗

2018

Independent Control of Multiple Degrees of Freedom Local Magnetic Actuators With Magnetic Cross-Coupling Compensation

Bruno Scaglioni, Nicola Fornarelli, Nicolo Garbin, Arianna Menciassi, Pietro Valdastri

RA-L 2018

This letter tackles the problem of independent control of multiple degrees of freedom (DoF) systems based on local magnetic actuation (LMA). This is achieved by means of a modular disturbance rejection scheme, with the aim of enhancing the range of use of multiple-DoF LMAs in dexterous surgical mani

Cited by 5 Source ↗Scholar ↗